
Advanced Embeded Robotics
Instructor: Marke A.Perkowski
Textbook: Embedded Robotics , Thomas Braunl
Download Slides from herePROPOSITIONAL LOGIC AND MODAL LOGIC IN ROBOTICS.
- introduction to logic.
- Basic Logic.
- Reasoning Agents.
- Representation and Logic.
- First Order Logic. ADDITIONAL.
- Boolean Logic.
- Robot Morality and Review of classical logic.
- Introduction to Satisfiability.
- Wumpus world in Ppropositional logic.
- A muddy children and intro to modal logic.
- Wise Men, Muddy Children, Logic Puzzles and Modal Logic.
- The Narrow Bridge Universe.
- sum and product problem.
KNOWLEDGE REPRESENTATION AND PLANNING WITH FIRST ORDER LOGIC.
- Introductio to Knowledge representation.
- Introduction to Planning.
- From propositional to predicate logic.
- First order logic.
- Inference in first order logic.
- Examples of FIRST ORDER theorem-proving and Colonel West.
- Artificial Intelligence in Logic. Prolog Language Tutorial.
- ROBOT MORALITY. An easy introduction.
- Prolog Planning Monkey and Banana.
- Modal and Deontic Logic Derivations.
Mobile robots.
- Class about autonomous mobile robots. In PDF.
- Homework in mobile robot kinematics. In PDF format.
- Measurement and correction of systematic odometry errors in mobile robots. Paper in PDF format.
- Paper in PDF. Structural Properties and Classification of Kinematic and Dynamic Models of Wheeled Mobile Robots.
PROBABILISTIC ROBOTICS. LOCALIZATION. PLANNING. MAPPING.
Robot Localization and related topics.
- Mobile robot positioning using sensor. In PDF.
- Paper in PDF about Monte Carlo localization for mobile robots.
- Paper on Experimental Comparison of localization methods in PDF.
- Bayesian estimation and Kalman filtering: A Unified framework for Mobile Robot Localization. Paper in PDF.
- Fingerprint for mobile robot localization in PDF.
- Dynamic Markov localization approach, by Burgard, Derr, Fox and Cremers. Paper in PDF format.
Robot Path Planning and related topics.
- Planning-to-move.ppt Navigation and Metric Path Planning.
- Lecture from CMU about Path planning for mobile robots. Slides in PDF format.
- Paper about path planning for a mobile robot. In PDF.
- New Paradigm for robot learning. In PDF.
- Paper about fast obstable avoidence based on vector field histogram. In PDF.
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STATIONARY ROBOTS. 1. Motion Planning for stationary robots.
- Motion planning methods good for stationary robot with hands. In PDF.
- Motion Planning that may be applied to any kind of robots. PDF.
ROBOT SOCCER AND SIMILAR IMPROVISATIONS.
- Robot soccer competitions. Introduction to Robot Vision. Slides in PPT.
- Vision Guided Motion. Slides in PDF.
- Robot Soccer. Birgit Graf, student of Prof. Braunl. Here you can learn about Robot Soccer and their vision system in full detail. In PDF format.
ADVANCED PRACTICAL ALGORITHMS. Matrix Calculations
- Fast Parallel Algorithms for Matrix problems. Slides in PPT Format.
ROBOT COMPETITIONS, ROBOT TEAMS, AND ROBOT SOCIETIES.
- Paper about autonomous driving mobile robot competitions. In PDF format.
- Technical Activities of RAS. Slides in PPT.
- A Probabilistic Approach to Collaborative Multi-Robot Localization. Paper in PDF.
- Heterogeneous Team of Modular Robots for Mapping and Exploration. Paper in PDF by Robert Grabowski.
- Lecture from CMU about coordination using search. In PDF format.
- Lecture from CMU about developing autonomy for robots in teams. Slides in PDF format This has applications to robot soccer and robot theatre.
- Paper about robot colony for entertainment. In PDF.
VARIOUS ROBOTIC ARCHITECTURES. Behavior Based Robotics and Biological Models.
- Slides in PPT about behavior based robot design. We discussed several similar ideas in class.
- Robots and biological intelligence. PDF.
- From Sensory Substitution to Situated Robots. Slides in PPT.
Emotional Robots.
- Slides in PPT by Mark Brosnan about Affective computing. This material related to class project about robot theatre.
Evolutionary Robots.
- Posters about evolutionary robotics from gecco-2002-23.pdf
- Introduction to robot control. Slides in PDF.
- Example of a world for a robot.
WALKING ROBOTS. Small walking robots, especially KHR-01.
- Slides on Kinematics and Animation of Humanoid Robots in PPT.
- High Level Motion Control Slides in PPT.
- Modeling humanoid robots in computer graphics. Slides in PPT.
- Animation for computer graphics. Slides in PPT format.
- David Vernon. Inexpensive humanoid robot architectures. In PDF.
- Paper about humanoid Robots. They also use KHR-01. In PDF format.
- Research in Humanoid robots from Brown University. In PPT format.
- Random Morphology robot - Locomotion learning. One page, interesting and new. In PDF format.
Gaits for Walking robots
- Gait evolution for biped robots using visual feedback. Paper in PDF.
- Paper about Active Balancing using Gyroscopes for a Small Humanoid Robot. In PDF.
HUMAN-ROBOT AND HUMAN-COMPUTER INTERACTION.
- Prof. Fumio Harashima about State of the Art in Human-Computer Interaction. Much about robotics. Slides in PDF format.
- Lectures about Human-Robot Interaction. Slides in PDF.
ADDITINAL SLIDES ABOUT ROBOT VISION Servos for projects.
- Robotic System Servo Control. Presentation of Jeff Allen as a lecturer in class. Slides in PPT.
Sensors
- Sensors and their role in new approaches to perception. Slides in PPT.
- Digital Resistive sensors. Slides in PPT.
- Analog Resistive sensors. Slides in PPT.
- Overview of sensors. Slides in PPT.
Cameras and Visual Servoing
- Cameras. Visual Servoing. Slides in PPT.
- Visual Servoing for a mobile robot. Paper in PDF.
- Paper by Zhang on camera calibration in PDF.
- Camera Calibration for 3D vision. In PDF.
BASIC ROBOT VISION.
- Edge detection and feature extraction algorithms. Slides in PPT.
- Labeling and sequential algorithms. Slides in PPT.
- Histogramming. Soccer robot vision. Slides in PPT.
- Walsh Transforms and butterflies. Slides in PPT.
- Walsh Matrix. Slides in PPT.
- Spectral Transforms and Image Processing software. Slides in PPT.
- Walsh and Fourier Transforms. Butterflies. Fast algorithms and their properties. Use of spectral methods in robot vision. Slides in PPT.
- Hough Transforms. Slides in PPT.
Hough Transforms and Quad Trees
- Hough Transform application in a mobile robot for corridor navigation. Slides in PPT.
- Quad trees and Oct-trees. Slides in PPT.
Thinning Algorithms
- Thinning algorithms. Slides in PPT.
Vision for Robot Localization
- Vision for robot localization by Ulrich. Paper in PDF.
Region Segmentation
- Region Segmentation. Slides in PDF format.
Wavelets
- Slides in PDF about wavelets.
- Beyond wavelets and JPEG 2000. Slides in PPT format.
Tracking.
- Lecture about Tracking Devices for humans, for instance built into glasses. In PDF format.
MATLAB AND MATLAB IN ROBOT VISION.
- matlab1.pdf Lectures on Matlab. Lecture 1. Introduction to Matlab.
- matlab2.pdf Lectures on Matlab. Lecture 2. More Matlab Programming.
- matlab3.pdf Lectures on Matlab. Lecture 3. Finishing with Matlab.
- matlab4.pdf Lectures on Matlab. Lecture 4. Finishing with Matlab.
- Lecture on Introduction and Control Basic to Matlab. In PDF.
- The same lecture in PPT.
- Matlab Primer in PDF.
- Introduction to Matlab in PPT.
- Matlab two-dimensional plots in PPT.
- Matlab Script and Function files in PPT.
- Simple Programming in Matlab in PPT.
- Solution of non-linear algebraic equations in Matlab. PPT format.